Research On The Control System And Path Planning Of Underwater Ship Hull Cleaning Robot

The subject is one of Heilongjiang major science and technology projects. This paper introduces the structure of the Underwater Ship Hull Cleaning Robot. The control system of the robot is completed and the path planning is proposed in the paper. Moreover, the aptitude test is proceeded after all.Firstly, the development of the hull cleaning technology and the application of climbing robot is introduced. According to the working environment, a reality structure scheme using permanent magnet adsorption and twin pedrail type structural cleaning robot is put forward. Permanent magnet structure, driving chain and cleaning devices are researched and designed. Drive style of cleaning robot is designed and servo motors are selected. Therefore, collectivity design on The Underwater Ship Hull Cleaning Robot is finished.Secondly, the cleaning motors are selected. Using the direct torque control method, cleaning motors are emulated based on their mathematical model through MATLAB 7.0.1.Thirdly, the controlling system including super computer and subordinate computer based on AT89C51 is designed. According to controlling function of subordinate computer, the controlling circuit and interface circuit of servo motors controlled and serial port communicating circuit are designed and built in the robot reality. Super computer carry mainly through keyboard scan and number showing design. The cleaning robot is controlled by serial port communication and robot's working state is showed through number pipe. Based on C-language, the control software about super computer and subordinate computer are designed as well.Fourthly, this paper gives concept of covering-path planning, its mathematics description as well as its designing method about full covering-path planning. The paper also describes several kinds of performance functions of covering-path motion. According to that, we designed the complete coverage path planning method based on biologically inspired neural network for cleaning robot.Finally, aptitude test of the cleaning robot is developed. The test result indicates that The Underwater Ship Hull Cleaning Robot has doughty burdened capability and balanced moving and adjusted velocity, and better power against turning over and correcting decline. Every capability guideline meets the designing requirements well.The brand-new scopes is inaugurated as the development of The Underwater Ship face Cleaning Robot can not only increase cleaning efficiency and cleaning roboticized level, but also can reduce manual work intension and pollution. Therefore, the development of the Underwater Ship Hull Cleaning Robot has important meaning.